TW200841255A - Robotic system and method for controlling the same - Google Patents

Abstract

A method for controlling a robotic system. Video and audio information is received by an input unit and is input into a processor thereby. The processor transforms the video and audio information into corresponding expressional signals and audio signals. The expressional and audio signals are received by an expressional and audio synchronized output unit and are synchronously output thereby. An expression generation control unit receives the expressional signals and generates corresponding expressional output signals. Multiple actuators enable an imitative face to create facial expressions according to the expressional output signals. A voice generation control unit receives the audio signals and generates corresponding audio output signals. A speaker outputs voice according to the audio output signals. Operations of voice output from the speaker and facial expression creation on the imitative face are synchronously performed.

Description

200841255 IX. Description of the Invention: [Technical Field] The present invention relates to a robot system and a machine method, and more particularly to a control robot system and a control method for a robot system that can simultaneously rotate a face system. "月和声音的 [Previous Techniques]

In general, there are currently robots on the market that can perform simple sound output functions. The Japanese facial expression changing device of the Japanese Patent No. 08107983Α2 includes a head and an artificial seed machine mechanism for increasing the facial expression of the robot. . A method for controlling the movement of a robot is disclosed in U.S. Patent No. 6,760,646, the disclosure of which is incorporated herein by reference. Control the behavior of gathering humans. BACKGROUND OF THE INVENTION In order to solve the present invention, the above-described problems are basically employed as described in detail below. The present invention is directed to providing a robotic system, a machine head; a pseudo-face, attached to the machine head, %, a calculation unit, and an electrical connection to the command calculation unit := is used to receive the expression sound information, and the expression sound is used in the command calculation unit, wherein the commander is oh, then ^ ^ ^

Client's Docket No. : 0950080 TT^s Docket No: 0912-A50930TW/final/Hawdong/client/inventor 箄曰 讯 处理 processing into the corresponding emoticon signal and corresponding audio signal 200841255; an expression and sound synchronization output unit, Electrically connected to the command computing unit for receiving and synchronously outputting the expression signal and the sound signal; an expression generation control unit electrically connected to the expression and sound synchronization output unit for receiving the expression signal, And generating a corresponding expression output signal; a plurality of actuators electrically connected to the expression generation control unit and connected to the immersive face for driving the imaginary face deformation according to the expression output signal Generating an expression; a sound generation control unit electrically connected to the expression and sound synchronization output unit for receiving the sound signal and generating a corresponding sound output signal; and a speaker 10 electrically connected to the a sound generation control unit connected to the head of the machine for outputting sound according to the sound output signal, wherein The speaker output sound and drive the actuator such realistic facial expressions based deformation simultaneously. According to the above object, the robot system further includes an information media input device electrically connected to the input unit, wherein the expression sound information is input into the input unit via the information media input device. According to the above object, the command calculation unit has a certain time control device for timing control to activate the information media input device. According to the above object, the robot system further includes a network input device electrically connected to the input unit, wherein the expression sound information is input into the input unit via the network input device. According to the above object, the command calculation unit has a timing control device for timing control to activate the network input device. According to the above object, the robot system further includes a radio device electrically connected to the input unit, wherein the expression sound information is input to the input unit via the radio device.

Client's Docket No.: 0950080 TT5s Docket No: 0912-A50930TW/final/Hawdong/client/inventor 6 200841255 According to the above purpose, the command calculation unit has a timing control device for timing control to activate the radio device. According to the above object, the robot system further includes an audio and image analysis unit and an audio and image capture device, wherein the sound and image analysis unit is electrically connected between the input unit and the sound and image capture device The sound and image capture device captures the sound and image, and transmits the sound and image to the sound and image analysis unit, and the sound and image analysis unit converts the sound and image analysis into the sound and image analysis unit The sound information is expressed, and the expression sound information is input into the input 'unit. According to the above object, the sound and image capturing device comprises a sound collecting device and a photographing device. According to the above object, the robot system further includes a memory unit electrically connected between the command computing unit and the expression and sound output unit for storing the expression signal and the sound signal. According to the above purpose, the command calculation unit has a timing control device for timingly controlling the output of the expression signal and the sound signal in the memory unit to the expression and sound synchronization output unit. Another object of the present invention is to provide a control method for a robot system, comprising the steps of: providing a machine head, a pseudo-face, a plurality of actuators, and a speaker, wherein the immersive facial tie Attached to the head of the machine, the actuators are connected to the imaginary face, and the speaker is connected to the head of the machine; the expression sound information is received by an input unit, and the expression sound information is input to a command calculation In the unit, the command computing unit converts the expression sound information processing into a corresponding expression signal and a corresponding sound signal; and outputs the expression and the sound simultaneously

Client's Docket No.: 0950080 7 TTs Docket No: 0912-A50930TW/fmal/Hawdong/client/inventor 200841255 Receive and synchronize the output of the expression, the unit receives the expression signal, and produces and controls the reading (four) sound signal , the sound wheel out of the second: lose: the middle signal::, according to the sound of the sound ... ... so that the face deformation of the face is generated synchronously.

- Step: According to the second purpose, the control method of the robot system further includes the following: the single 1/1 media wheel device inputs the expression sound information to the control method according to the above purpose. The robot system further includes the following steps. The control timing control starts the information media input table at a certain time. According to the above object, the control method of the robot system further comprises the following steps: inputting the expression sound information into the input unit by the - network wheel device. According to the above object, the control method of the robot system further comprises the step of: starting the network input device with a timing control of the control device. According to the above object, the control method of the robot system further comprises the step of: inputting the expression sound information to the input port by a radio device - % early 70. According to the above object, the control method of the robot system further includes the step of starting the radio device with a timing control of the control device for a certain period of time. According to the above object, the control method of the robot system further comprises the following steps: capturing sound and image by a sound and image capturing device, and

Client's Docket No: 0950080 TT5s Docket No: 〇912-A50930TW/f1nal/Hawdong/client/inventor ^ 200841255 The sound and image are transmitted to an audio and image analysis unit; and the sound and image analysis unit is used to The image analysis is converted into the expression sound information, and the expression sound information is input into the input unit. According to the above object, the control method of the robot system further comprises the following steps: storing the expression signal and the sound signal converted by the command calculation unit by a memory unit. According to the above object, the control method of the robot system further comprises the following steps: outputting the expression signal and the sound signal in the memory unit to the expression and sound synchronization output unit in a timing control device timing control. The above described objects, features and advantages of the present invention will become more apparent from the description of the appended claims. [Embodiment] A preferred embodiment of the present invention will be described with reference to the drawings. Referring to FIG. 1 and FIG. 2, the robot system 100 of the present embodiment mainly includes a machine head 110, a pseudo-face 120, a command meter φ calculation unit 130, an input unit 135, and an expression and sound synchronization output. The unit 140, the expression generation control unit 145, the plurality of actuators 150, a sound generation control unit 155, a speaker 160, an information medium input device 171, a network input device 172, a radio device 173, a sound And an image analyzing unit 180, a sound and image capturing device 185, and a memory unit 190. The immersive face 120 is attached to the machine head 110. Here, the pseudo-face 120 may be made of an elastically deformable material such as rubber or synthetic resin, and the pseudo-face 120 may be selectively a face or a movement.

Client's Docket No.: 0950080 TT's Docket No: 0912-A50930TW/final/Hawdong/client/inventor 9 200841255 Object face or cartoon character face. It is worthwhile to say that the command calculation single expression and sound synchronization wheel in the first = early 7 ^ 130, turn into the early 135, the sound generation control 4 situation production control unit (4), Lee early 155, information media round into the The clothes 172, the radio set 173, the sound image eight, the 罔 road wheel and the memory unit 19 〇箄ν β ear day and the heart image 7 knife analysis early 180. 4 The structure can be set in the machine head no or as shown in Fig. 2, the command calculation unit 13 ~ Shi set 131, and the turn-in unit 135 3 ♦ ^, hit Du, a 疋 ¥ control device can be used to pick up The silk sound is connected to the command calculation unit 13A, the unit= and the sound synchronization wheeling unit 14. It is electrically connected to the command calculation table. The condition generation control unit 145 is electrically connected to the early element 140. , 丨月及和声同步, a plurality of filaments 150 are electrically connected to 145' and a plurality of actuators 150 are respectively remotely connected to the control unit. More specifically, a plurality of actuators 15 It is eight different one true face 120. On the inner surface of the immersed face 120. The clip, the knife J and the appropriate connection can be respectively connected to the imaginary face 12〇: two corpses: plural: the inner surface of the actuator 150 portion. The sound generation control unit 155 such as the moon, the mouth, the nose, and the like is an electric output unit. The operation is connected to the expression and the sound is synchronized. The speaker 160 is electrically connected to the sound generation and the speaker 160 is connected to the machine head! ^ 凡 55 ' and may be selectively placed in the immersive face 'speaker 160 121 (as shown in Figure 1). ° One of the mouth openings

Clienfs Docket No.: 0950080 TT5s Docket No: 〇912-A50930TW/fInal/Hawdong/cJient/invent〇r 10 200841255 Information Media Input Installation 171 λ Devices 173 are all electrically connected, wheeled into device 172 and radio, The information media input is 罟17\ two, early 7^ U5. In the form of the interface of the present embodiment, and the network is light, the optical drive can be connected to the optical drive or a USB connected to the form Y. The clothing and the 172 may be a network connection (the audio and image analysis unit (10) is electrically connected to the sound and image capturing frame 输入 between the input unit 135 and the image capturing device 1δ5"φ. In this embodiment The sound device is formed in the form of a radio and a microphone, and the microphone, the radio device 185a can be in the form. The device (10) can be a memory unit 190 of the camera. And the sound synchronization output single m; ^ in the command calculation unit 130 and the expression body η unit 1 〇. The performance mode of operation. Figure step S11 to do you "between, such as brother 3 contains expressions and sounds ^, the expression The sound information may be a two-disc input that is input to the input form by reading: the information media wheeling device 171, and the sound of the expression is in the middle. The receiver's wheeling unit 135 will turn to the commander. In the calculation unit 130, = fine is shown. Here, the command calculation unit! is prepared by the two horses 3 and the re-coded temple method to sing the main dance - owe > The sound signal. Then, the output is synchronized with the expression and sound. The unit 14G receives and synchronously outputs the expression signal and the sound & number, as shown in step S13 of Fig. 3. Next, the expression generation control unit 145 receives the expression signal, and generates a series of corresponding expression rounds.

Client's Docket No.: 0950080 TT s Docket No: 0912-A50930TW/flnal/Hawdong/client/inventor | γ 200841255 Signal, as shown in step S14 of Figure 3. At the same time, the sound generation control unit 155 receives the sound signal and generates a series of corresponding sound output signals as shown in step S14' of Fig. 3. Then, the plurality of actuators 150 can drive the simulated face 120 to deform according to the series of corresponding expression output signals, as shown in step S15 of FIG. Here, the actuators 150 located at different positions on the inner surface of the imaginary face 120 operate separately according to the received expression output signals to drive the imaginary face 120 to deform to produce an expression. At the same time, the speaker 160 can output a sound based on the series of corresponding sound output signals, as shown in step S15' of Fig. 3. In particular, by the operation of the expression and sound sync output unit 140, the operation of the speaker 160 to output the sound and the operation of the plurality of actuators 150 to drive the imaginary face 120 to deform to produce an expression are performed simultaneously. For example, the robotic system 100 or the machine head 110 can cause the immersive face 120 to present a corresponding expression while singing and speaking. Further, the expression sound information input from the information medium input device 171 to the input unit 135 is previously generated or recorded. In addition, the network input device 172 can also input the expression sound information into the input unit 135 as shown in step 821 of FIG. For example, the expression sound information may be a file containing expressions and sound information, and it may be input to the input unit 135 via the Internet transmission and network input device 172. Next, the input unit 135 inputs the expression sound information into the command calculation unit 130 as shown in step S22 of Fig. 4. Here, the command calculation unit 130 can convert the expression sound information processing into a corresponding expression signal and a corresponding audio signal by means of decoding and re-encoding. Then, the expression and sound output unit 140 receives and synchronously outputs the expression signal and the sound signal, such as the fourth

Client's Docket No.: 0950080 TT^ Docket No: 0912-A50930TW/fmal/Hawdong/client/inventor 12 200841255 The step S23 of the figure is shown. Next, the expression generation signal is received by the expression generation control unit 145, and a series of corresponding expression output signals are generated, as shown in step S24 of Fig. 4. At the same time, the sound generation control unit 155 receives the sound signal and generates a series of corresponding sound output signals as shown in step S24' of Fig. 4. Then, the plurality of actuators 150 can drive the imaginary face 120 to deform according to the series of corresponding expression output signals, as shown in step S25 of FIG. Similarly, actuators 150 located at different locations on the inner surface of the immersive face 120 will each operate in accordance with the received expression output signals to drive the immersive face 10 120 to deform. At the same time, the speaker 160 can output a sound based on the series of corresponding sound output signals, as shown in step S25' of Fig. 4. Similarly, by the operation of the expression and sound synchronizing output unit 140, the operation of the speaker 160 to output the sound and the operation of the plurality of actuators 150 to drive the imaginary face 120 to deform to generate an expression are performed simultaneously. In addition, the expression sound information input from the network input device 172 to the input unit 135 may be real-time or pre-recorded. Further, the radio device 173 can also input the expression sound information into the input unit 135. Here, the expression sound information received and transmitted by the radio device 173 may be only a broadcast signal, and finally output directly by the speaker 160. At this time, the immersive face 120 can still cooperate to generate a specific expression. Further, the expression sound information input from the radio device 173 to the input unit 135 may also be real-time or pre-recorded. In addition, the user can determine the robot system 100 or the machine head

Client's Docket No.: 0950080 TFs Docket No: 09I2-A50930TW/fmal/Hawdong/client/inventor 13 200841255 In more detail, by setting the dynamic information media to enter the f-set 171, the work network two f13 can be controlled regularly. Kaimen Yu #, sound / poor media input device 171 can be input to the wheel unit in the specified unit, the monthly information (from the expression and stand, the disc, etc.). However, the light of the case is in the heart of the (four) heart, the network input device W can be in the ΪΪ: = network on the expression of sound information (including (four) mussel Dfi private case) wheeled into the wheeling unit 135 two ears

Set 173 to receive the broadcast signal at the specified time to install 1 〇 Θ or the machine head i丨〇 to perform the moxibustion machine. . People or people chilling). The operation of the above 31 (for example, broadcast news (10) and the main slave from the media media entry device 171 or the network entry device m rain into the watch h voice information in the command calculation unit to replace the corresponding expression signal and After the corresponding sound signal, the processing can be first transferred to the corresponding expression signal and the corresponding sound; 90. Similarly, the output can be controlled by setting the command calculation unit σ & The unit 19〇 determines the control sound signal to the expression and the sound synchronization wheel unit and the month signal and the person system 100 or the machine head 110 are up and down, so that the machine is further input. The unit 135 receives the operation of the ^^ item. It is synchronous, can be unsynchronized or does not have the tune information, and can have the built-in time 2 in the expressed voice information. Whatever the case, the unit 130 and The expression and sound synchronization output single ^ 矾 矾 ' can be synchronized for the command of the calculation of the sound information. 40 in the processing and rotation table on the other hand, the robot system 1 7 7 ~ play mode. VI has the following Narration

Client's Docket No.: 0950080 TT^s Docket No: 0912-A50930TW/final/Hawdong/client/inventoi 14 200841255 Like, ίί^^ and 185 can extract sound and shadow: as shown in step S31 of Figure 5 . = The sound and image of the external system l〇0 externally, for example, the receiving robotic system is charged 1〇〇 from the reception, and the sound and image of one of the other performers is set up. The V sound is connected; t t18Q converts the sound and image analysis elements, as shown in step S32 of Fig. 5. Then, the expression sound information is input to the command meter as early as 5, as shown in step S33 of Fig. / Fig. Here, the command meter #^3;^2 is processed by decoding and re-encoding to process the expression sound information to the corresponding table = signal and corresponding audio signal. Then, turn round with = work, element 14. The emoticon second tone is received and synchronously outputted, as shown in step S34 of Fig. 5. Then, the expression signal is received by the table::: soap maker 145, and the - series pair ‘rescue; output signal' is generated as shown in step S35 of Fig. 5. At the same time, the control unit 155 receives the (four) sound signal and generates a - series ^^ sound output - apostrophe, as shown in step S35 of Fig. 5. Connect: = ear to the dynamic 150 can be based on a series of corresponding tables of the words of the sea, not to solidify the imaginary face deformation to produce expressions. 5 ΐ. The actuation of the two positions on the inner surface of the immersive face 120 is 150, and each of them is replayed according to the received expression output signal to drive the immersive face 120 to deform. At the same time, the second crying 160 can be rotated according to the series of corresponding sound output signals: as shown in step S36' of Fig. 5. Similarly, with expressions and

Client’s Docket No.: 0950080 TT's Docket No: 0912-A50930TW/final/Hawdong/client/inventor 15 200841255 The operation of the step output unit 140, the dance is synchronously known. As mentioned above, the machine 1 is alive, and the operation is, the effect of the "sounds of the handcuffs" received by the machine. The sub-exhibition comes out to achieve entertainment. Similarly, the sound and video information is passed through Command calculation unit = 表情 input expression

After the signal and the corresponding audio signal, the processing is converted into the corresponding expression expression signal and the corresponding audio signal storage. The timing of the corresponding command calculation unit it 13G can be first controlled and then set in the memory unit 190. The expression of the voice synchronization output unit 14 can be controlled periodically. In the table, the head 110 performs the above-mentioned performance operation. According to the one-person system, the system 100 or the machine, the machine disclosed in the present invention is crying as an entertainment center, which can play the singer; ^2, = the head can appear with the sound corresponding to the expression 'to achieve the simulation fruit. Although the present invention has been disclosed in its preferred embodiments, it is not intended to limit the invention, and it is possible to make some modifications and refinements without departing from the scope of the invention. The scope of the invention is defined by the scope of the appended claims.

Clienfs Docket No.: 0950080 TT^ Docket Ήο: 0912-A50930TW/fmal/Hawdong/client/inventor 200841255 [Simplified Schematic] Schematic diagram of the external appearance of the human system Figure 1 shows the second diagram of the present invention. One of the intentions of the invention; the internal structure of the human system, the internal structure of the money is a kind of operation system of the human system, the third embodiment shows the intention of the present invention; the other operational flow of the robot system shows the invention The second part of the robot system - the operating process of the brother 4 shows the schematic diagram of the present;

[Main component symbol description] 100~ robot system; 120~ pseudo-real face; 130~ command calculation unit; 135~ input unit; 145~ expression generation control unit; 155~ sound generation control unit; 171~ information media input device; 173 ~ radio device; 185 ~ sound and image capture device; 185b ~ camera device; 11 〇 ~ machine head; 121 ~ mouth opening; 131 ~ timing control device; 140 ~ expression and sound synchronization 150 ~ actuator; ~ Speaker; Round-out unit; 172~ Network input device; 180~ Sound and image analysis unit 185a~ Radio device; 190~ Memory unit.

Client’s Docket No.: 0950080 TT5s Docket No: 0912-A50930TW/final/Hawdong/client/inventor 17

Claims (1)

Ten, the scope of application for patents: J.- kinds of robots are a machine head; including: quite true face, Siyi law calculation unit;,; above the machine head; an input unit, electrical 'sound poor news 'The fascination is to use the two 1st military calculation unit to receive the conversion processing to convert the expression sounds-expressions and sounds: the wide and corresponding audio signals; the unit is used to receive And synchronizing, electrically connecting to the command to calculate an expression generating control unit for the expression signal and the sound signal; and the output unit for receiving the output signal of the expression of the expression and the sound synchronization; the signal is generated Corresponding to the plurality of actuators, electrically + connected to the imaginary face, using an expression generation control unit, and the imaginary face deformation generates an expression, and driving a sound generation control unit according to the expression rounding signal , the output unit of the emperor, to receive the sound; = connected to the expression and the same t-sound output signal; and the ear to the 旒, the sub-correspond to the electrical connection to the sound generation control unit, And the second and second media W are used to output the sound two according to the sound of the sound; #知知器 output sound and the actuators drive the imaginary face deformation to generate the expression synchronization. 2·If stated The robot system described in item i of the patent scope, - the information medium input device, is electrically connected to the wheeling unit, Client's Docket No.: 0950080 TT s Docket No. 0912-A50930TW/fmal/Hawdong/client/inventor 200841255 The expression sound information is input to the input unit via the information medium input device. 3. The robot system according to claim 2, wherein the command calculation unit has a certain time control device, which is used for The timing system controls the information media input device. 4. The robot system of claim 1, further comprising a network input device electrically connected to the input unit, wherein the expression sound information is The network input device is input to the input unit. The robot system according to claim 4, wherein the command calculation The robot has a certain time control device for timing control to activate the network input device. 6. The robot system of claim 1, further comprising a radio device electrically connected to the input unit, wherein The expression sound information is input to the input unit via the radio device. 7. The robot system of claim 6, wherein the command calculation unit has a timing control device for timing Controlling the radio device. 8. The robot system of claim 1 further comprising an audio and image analysis unit and an audio and image capture device, wherein the sound and image analysis unit is Between the input unit and the sound and image capture device, the sound and image capture device captures the sound and image, and transmits the sound and image to the sound and image analysis unit, and The sound and image analysis unit converts the sound and image analysis into the expression sound information, and the expression sound is Among the information inputted to the input unit. Client's Docket No.: 0950080 XT's Docket No: 0912-A50930TW/finaI/Hawdong/client/inventor 19 200841255 9. The robot system of claim 8, wherein the sound and image capturing device comprises a radio Device and a photographic device. 10. The robot system of claim 1, further comprising a memory unit electrically connected between the command calculation unit and the expression and sound synchronization output unit for storing the expression signal and the sound Signal. 11. The robot system of claim 10, wherein the command calculation unit has a timing control device for timing control outputting an expression signal and the sound signal in the memory unit to the expression® and sound. In the synchronous output unit. 12. A robotic system control method comprising the steps of: providing a machine head, a pseudo-face, a plurality of actuators, and a speaker, wherein the imaginary face is attached to the head of the machine, An actuator is connected to the imaginary face, and the speaker is connected to the head of the machine; receiving an expression sound information by an input unit, and inputting the expression sound information into a command calculation unit, wherein the command The computing unit system converts the expression sound information processing into a corresponding expression signal and a corresponding sound signal; and receives and synchronously outputs the expression signal and the sound signal by an expression and sound synchronization output unit, and receives the expression signal by an expression generation control unit The expression signal, and generating a corresponding expression output signal; causing the actuators to drive the imaginary face deformation according to the expression output signal to generate an expression; receiving the sound signal by a sound generation control unit, and generating a pair of Clienf s Docket No.: 0950080 TT's Docket No: 0912-Α50930Γ\ν/ίίη&1/Η&Λν(!οη§/οΗε 1/ίην6η1;〇Γ 20 200841255 The sound output signal; and causing the speaker to output a sound according to the sound output signal, wherein the speaker output sound and the actuators drive the imaginary face deformation to generate an expression system simultaneously 13. The robot system control method according to claim 12, further comprising the step of: inputting the expression sound information into the input unit by an information media input device. The robot system control method described in the above 13 includes the following steps: The information medium input device is started by the timing control of the control device at a certain time. 15. The robot system control method according to claim 12, The method includes the following steps: inputting the expression sound information into the input unit by using a network input device. 16. The robot system controller 10 method as claimed in claim 15 further includes the following steps: The control device timing control starts the network input device at a certain time. The robot system control method according to the second aspect, further comprising the step of: inputting the expression sound information into the input unit by a radio device. 18. The robot system control method according to claim 17, The method further includes the following steps: Starting the radio device with a certain time control device timing control. Client's Docket No.: 0950080 TT's Docket No: 0912-A5093OTW/final/Hawdong/client/inventor 21 200841255 19. If the patent application scope is 12th The robot system control method further includes the steps of: capturing sound and image by a sound and image capturing device, and transmitting the sound and image to a sound and image analyzing unit; and using the sound and image The analyzing unit converts the sound and image analysis into the expression sound information, and inputs the expression sound information into the input unit. 20. The robot system control method of claim 19, wherein the sound and image capture device comprises a sound pickup device and a camera device. 21. The robot system control method of claim 12, further comprising the step of: storing, by a memory unit, the expression signal and the sound signal converted by the command calculation unit. 22. The robot system control method according to claim 21, further comprising the following steps: outputting the condition signal of the memory unit and the sound signal to the expression and sound synchronization with a timing control device timing control Among the output units. Client’s Docket No.: 0950080 22 TTss Docket No: 0912-A50930TW/final/Hawdong/client/inventor